An avoidance strategy for mobile robot in complex environment

摘要

This paper presents an avoidance strategy for the robot to find the optimal trajectory to reach the target point in a complex environment. First, The robot's movement function is presented from the following three aspects. The first is that the robot motion must be in designated areas; the second is that the robot can reach the target location by the dynamic obstacle avoidance; and the third is the shortest movement path of the robot is guaranteed. Second, the conditions of the setting for the robot path optimization are given: they are the value of individual adaptation, re-optimization of path and mutation of movement strategy. The last, simulation results show that the proposed method is feasible.